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Extended Kalman Filter Observers for Multibody Dynamical systems

This work addresses the state estimation of multibody mechanical systems. These systems are described by second-order Lagrangian equations in dependent, constrained coordinates. The proposed observer, based on the extended Kalman filter (EKF), is described by first-order differential equations, with independent, non-constrained coordinates.

These different kinds of models pose the main problem when designing the observer. The approach followed is based on intimately relate the EKF realization with efficient methods for dynamic formulation and fast implementation of multibody systems: the velocity projection and the penalty methods. Simulation tests show robustness of the observer and promising ability for handling complex mechanical systems